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<div class="title">common.hpp</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Copyright (c) 2010, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
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<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
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<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> * $Id$</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160; </div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#ifndef PCL_COMMON_IMPL_H_</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#define PCL_COMMON_IMPL_H_</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="common_2include_2pcl_2point__types_8h.html">pcl/point_types.h</a>&gt;</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="common_2include_2pcl_2common_2common_8h.html">pcl/common/common.h</a>&gt;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="keyword">inline</span> <span class="keywordtype">double</span></div>
<div class="line"><a name="l00046"></a><span class="lineno"><a class="line" href="group__common.html#ga54999c02ba9bee56404539747b0fda51">   46</a></span>&#160;<a class="code" href="group__common.html#ga54999c02ba9bee56404539747b0fda51">pcl::getAngle3D</a> (<span class="keyword">const</span> Eigen::Vector4f &amp;v1, <span class="keyword">const</span> Eigen::Vector4f &amp;v2, <span class="keyword">const</span> <span class="keywordtype">bool</span> in_degree)</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;{</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;  <span class="comment">// Compute the actual angle</span></div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;  <span class="keywordtype">double</span> rad = v1.normalized ().dot (v2.normalized ());</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;  <span class="keywordflow">if</span> (rad &lt; -1.0)</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;    rad = -1.0;</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (rad &gt;  1.0)</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;    rad = 1.0;</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;  <span class="keywordflow">return</span> (in_degree ? acos (rad) * 180.0 / M_PI : acos (rad));</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;}</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160; </div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;<span class="keyword">inline</span> <span class="keywordtype">double</span></div>
<div class="line"><a name="l00058"></a><span class="lineno"><a class="line" href="group__common.html#ga8c74d7c459961a2650c22eff8126aef8">   58</a></span>&#160;<a class="code" href="group__common.html#ga54999c02ba9bee56404539747b0fda51">pcl::getAngle3D</a> (<span class="keyword">const</span> Eigen::Vector3f &amp;v1, <span class="keyword">const</span> Eigen::Vector3f &amp;v2, <span class="keyword">const</span> <span class="keywordtype">bool</span> in_degree)</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;{</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;  <span class="comment">// Compute the actual angle</span></div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;  <span class="keywordtype">double</span> rad = v1.normalized ().dot (v2.normalized ());</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;  <span class="keywordflow">if</span> (rad &lt; -1.0)</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;    rad = -1.0;</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (rad &gt;  1.0)</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;    rad = 1.0;</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;  <span class="keywordflow">return</span> (in_degree ? acos (rad) * 180.0 / M_PI : acos (rad));</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;}</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160; </div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;<span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00071"></a><span class="lineno"><a class="line" href="group__common.html#ga3349ce9c26d4acbb1adae1e9b2d5f7e5">   71</a></span>&#160;<a class="code" href="group__common.html#ga3349ce9c26d4acbb1adae1e9b2d5f7e5">pcl::getMeanStd</a> (<span class="keyword">const</span> std::vector&lt;float&gt; &amp;values, <span class="keywordtype">double</span> &amp;mean, <span class="keywordtype">double</span> &amp;stddev)</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;{</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;  <span class="keywordtype">double</span> sum = 0, sq_sum = 0;</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160; </div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; values.size (); ++i)</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;  {</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;    sum += values[i];</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;    sq_sum += values[i] * values[i];</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;  }</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;  mean = sum / <span class="keyword">static_cast&lt;</span><span class="keywordtype">double</span><span class="keyword">&gt;</span>(values.size ());</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;  <span class="keywordtype">double</span> variance = (sq_sum - sum * sum / <span class="keyword">static_cast&lt;</span><span class="keywordtype">double</span><span class="keyword">&gt;</span>(values.size ())) / (<span class="keyword">static_cast&lt;</span><span class="keywordtype">double</span><span class="keyword">&gt;</span>(values.size ()) - 1);</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;  stddev = sqrt (variance);</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;}</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160; </div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00087"></a><span class="lineno"><a class="line" href="group__common.html#gab831a44b375fa7e6bada740d1d17e247">   87</a></span>&#160;<a class="code" href="group__common.html#gab831a44b375fa7e6bada740d1d17e247">pcl::getPointsInBox</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud, </div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;                     Eigen::Vector4f &amp;min_pt, Eigen::Vector4f &amp;max_pt,</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;                     std::vector&lt;int&gt; &amp;indices)</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;{</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;  indices.resize (cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size ());</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;  <span class="keywordtype">int</span> l = 0;</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160; </div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;  <span class="comment">// If the data is dense, we don&#39;t need to check for NaN</span></div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;  <span class="keywordflow">if</span> (cloud.<a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a>)</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;  {</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size (); ++i)</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;    {</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;      <span class="comment">// Check if the point is inside bounds</span></div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;      <span class="keywordflow">if</span> (cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].x &lt; min_pt[0] || cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].y &lt; min_pt[1] || cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].z &lt; min_pt[2])</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;        <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;      <span class="keywordflow">if</span> (cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].x &gt; max_pt[0] || cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].y &gt; max_pt[1] || cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].z &gt; max_pt[2])</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;        <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;      indices[l++] = int (i);</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;    }</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;  }</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;  <span class="comment">// NaN or Inf values could exist =&gt; check for them</span></div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;  {</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size (); ++i)</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;    {</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;      <span class="comment">// Check if the point is invalid</span></div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;      <span class="keywordflow">if</span> (!pcl_isfinite (cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].x) || </div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;          !pcl_isfinite (cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].y) || </div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;          !pcl_isfinite (cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].z))</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;        <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;      <span class="comment">// Check if the point is inside bounds</span></div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;      <span class="keywordflow">if</span> (cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].x &lt; min_pt[0] || cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].y &lt; min_pt[1] || cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].z &lt; min_pt[2])</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;        <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;      <span class="keywordflow">if</span> (cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].x &gt; max_pt[0] || cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].y &gt; max_pt[1] || cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].z &gt; max_pt[2])</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;        <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;      indices[l++] = int (i);</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;    }</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;  }</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;  indices.resize (l);</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;}</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160; </div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00130"></a><span class="lineno"><a class="line" href="group__common.html#ga1583a71aef0f54550adef0ebfef89edd">  130</a></span>&#160;<a class="code" href="group__common.html#ga1583a71aef0f54550adef0ebfef89edd">pcl::getMaxDistance</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud, <span class="keyword">const</span> Eigen::Vector4f &amp;pivot_pt, Eigen::Vector4f &amp;max_pt)</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;{</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;  <span class="keywordtype">float</span> max_dist = -FLT_MAX;</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;  <span class="keywordtype">int</span> max_idx = -1;</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;  <span class="keywordtype">float</span> dist;</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;  <span class="keyword">const</span> Eigen::Vector3f pivot_pt3 = pivot_pt.head&lt;3&gt; ();</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160; </div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;  <span class="comment">// If the data is dense, we don&#39;t need to check for NaN</span></div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;  <span class="keywordflow">if</span> (cloud.<a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a>)</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;  {</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size (); ++i)</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;    {</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;      pcl::Vector3fMapConst pt = cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].getVector3fMap ();</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;      dist = (pivot_pt3 - pt).norm ();</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;      <span class="keywordflow">if</span> (dist &gt; max_dist)</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;      {</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;        max_idx = int (i);</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;        max_dist = dist;</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;      }</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;    }</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;  }</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;  <span class="comment">// NaN or Inf values could exist =&gt; check for them</span></div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;  {</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size (); ++i)</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;    {</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;      <span class="comment">// Check if the point is invalid</span></div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;      <span class="keywordflow">if</span> (!pcl_isfinite (cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].x) || !pcl_isfinite (cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].y) || !pcl_isfinite (cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].z))</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;        <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;      pcl::Vector3fMapConst pt = cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].getVector3fMap ();</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;      dist = (pivot_pt3 - pt).norm ();</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;      <span class="keywordflow">if</span> (dist &gt; max_dist)</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;      {</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;        max_idx = int (i);</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;        max_dist = dist;</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;      }</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;    }</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;  }</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160; </div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;  <span class="keywordflow">if</span>(max_idx != -1)</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;    max_pt = cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[max_idx].getVector4fMap ();</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;    max_pt = Eigen::Vector4f(std::numeric_limits&lt;float&gt;::quiet_NaN(),std::numeric_limits&lt;float&gt;::quiet_NaN(),std::numeric_limits&lt;float&gt;::quiet_NaN(),std::numeric_limits&lt;float&gt;::quiet_NaN());</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;}</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160; </div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00177"></a><span class="lineno"><a class="line" href="group__common.html#gab5669ac9649b383c053ef67cc06e6b55">  177</a></span>&#160;<a class="code" href="group__common.html#ga1583a71aef0f54550adef0ebfef89edd">pcl::getMaxDistance</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud, <span class="keyword">const</span> std::vector&lt;int&gt; &amp;indices,</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;                     <span class="keyword">const</span> Eigen::Vector4f &amp;pivot_pt, Eigen::Vector4f &amp;max_pt)</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;{</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;  <span class="keywordtype">float</span> max_dist = -FLT_MAX;</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;  <span class="keywordtype">int</span> max_idx = -1;</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;  <span class="keywordtype">float</span> dist;</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;  <span class="keyword">const</span> Eigen::Vector3f pivot_pt3 = pivot_pt.head&lt;3&gt; ();</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160; </div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;  <span class="comment">// If the data is dense, we don&#39;t need to check for NaN</span></div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;  <span class="keywordflow">if</span> (cloud.<a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a>)</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;  {</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; indices.size (); ++i)</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;    {</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;      pcl::Vector3fMapConst pt = cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[indices[i]].getVector3fMap ();</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;      dist = (pivot_pt3 - pt).norm ();</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;      <span class="keywordflow">if</span> (dist &gt; max_dist)</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;      {</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;        max_idx = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (i);</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;        max_dist = dist;</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;      }</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;    }</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;  }</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;  <span class="comment">// NaN or Inf values could exist =&gt; check for them</span></div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;  {</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; indices.size (); ++i)</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;    {</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;      <span class="comment">// Check if the point is invalid</span></div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;      <span class="keywordflow">if</span> (!pcl_isfinite (cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[indices[i]].x) || !pcl_isfinite (cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[indices[i]].y)</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;          ||</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;          !pcl_isfinite (cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[indices[i]].z))</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;        <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160; </div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;      pcl::Vector3fMapConst pt = cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[indices[i]].getVector3fMap ();</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;      dist = (pivot_pt3 - pt).norm ();</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;      <span class="keywordflow">if</span> (dist &gt; max_dist)</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;      {</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;        max_idx = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (i);</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;        max_dist = dist;</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;      }</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;    }</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;  }</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160; </div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;  <span class="keywordflow">if</span>(max_idx != -1)</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;    max_pt = cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[indices[max_idx]].getVector4fMap ();</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;    max_pt = Eigen::Vector4f(std::numeric_limits&lt;float&gt;::quiet_NaN(),std::numeric_limits&lt;float&gt;::quiet_NaN(),std::numeric_limits&lt;float&gt;::quiet_NaN(),std::numeric_limits&lt;float&gt;::quiet_NaN());</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;}</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160; </div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00228"></a><span class="lineno"><a class="line" href="group__common.html#ga3166f09aafd659f69dc75e63f5e10f81">  228</a></span>&#160;<a class="code" href="group__common.html#ga3166f09aafd659f69dc75e63f5e10f81">pcl::getMinMax3D</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud, <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;min_pt, <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;max_pt)</div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;{</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;  Eigen::Array4f min_p, max_p;</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;  min_p.setConstant (FLT_MAX);</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;  max_p.setConstant (-FLT_MAX);</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160; </div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;  <span class="comment">// If the data is dense, we don&#39;t need to check for NaN</span></div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;  <span class="keywordflow">if</span> (cloud.<a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a>)</div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;  {</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size (); ++i)</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;    {</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;      pcl::Array4fMapConst pt = cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].getArray4fMap ();</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;      min_p = min_p.min (pt);</div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;      max_p = max_p.max (pt);</div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;    }</div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;  }</div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;  <span class="comment">// NaN or Inf values could exist =&gt; check for them</span></div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;  {</div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size (); ++i)</div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;    {</div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;      <span class="comment">// Check if the point is invalid</span></div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;      <span class="keywordflow">if</span> (!pcl_isfinite (cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].x) || </div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;          !pcl_isfinite (cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].y) || </div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;          !pcl_isfinite (cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].z))</div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;        <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;      pcl::Array4fMapConst pt = cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].getArray4fMap ();</div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;      min_p = min_p.min (pt);</div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;      max_p = max_p.max (pt);</div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;    }</div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;  }</div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;  min_pt.x = min_p[0]; min_pt.y = min_p[1]; min_pt.z = min_p[2];</div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;  max_pt.x = max_p[0]; max_pt.y = max_p[1]; max_pt.z = max_p[2];</div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;}</div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160; </div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00265"></a><span class="lineno"><a class="line" href="group__common.html#gafd9010977f5e52b35b484be7624df3f8">  265</a></span>&#160;<a class="code" href="group__common.html#ga3166f09aafd659f69dc75e63f5e10f81">pcl::getMinMax3D</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud, Eigen::Vector4f &amp;min_pt, Eigen::Vector4f &amp;max_pt)</div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;{</div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;  Eigen::Array4f min_p, max_p;</div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;  min_p.setConstant (FLT_MAX);</div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;  max_p.setConstant (-FLT_MAX);</div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160; </div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;  <span class="comment">// If the data is dense, we don&#39;t need to check for NaN</span></div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;  <span class="keywordflow">if</span> (cloud.<a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a>)</div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;  {</div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size (); ++i)</div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;    {</div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;      pcl::Array4fMapConst pt = cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].getArray4fMap ();</div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;      min_p = min_p.min (pt);</div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;      max_p = max_p.max (pt);</div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;    }</div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;  }</div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;  <span class="comment">// NaN or Inf values could exist =&gt; check for them</span></div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;  {</div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size (); ++i)</div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;    {</div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;      <span class="comment">// Check if the point is invalid</span></div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;      <span class="keywordflow">if</span> (!pcl_isfinite (cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].x) || </div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;          !pcl_isfinite (cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].y) || </div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;          !pcl_isfinite (cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].z))</div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;        <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;      pcl::Array4fMapConst pt = cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].getArray4fMap ();</div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;      min_p = min_p.min (pt);</div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;      max_p = max_p.max (pt);</div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;    }</div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;  }</div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;  min_pt = min_p;</div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;  max_pt = max_p;</div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;}</div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160; </div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160; </div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00303"></a><span class="lineno"><a class="line" href="group__common.html#ga41eb246206d51f77a8cb82b5d963e6a2">  303</a></span>&#160;<a class="code" href="group__common.html#ga3166f09aafd659f69dc75e63f5e10f81">pcl::getMinMax3D</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud, <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_indices.html">pcl::PointIndices</a> &amp;indices,</div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;                  Eigen::Vector4f &amp;min_pt, Eigen::Vector4f &amp;max_pt)</div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;{</div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;  Eigen::Array4f min_p, max_p;</div>
<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;  min_p.setConstant (FLT_MAX);</div>
<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;  max_p.setConstant (-FLT_MAX);</div>
<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160; </div>
<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;  <span class="comment">// If the data is dense, we don&#39;t need to check for NaN</span></div>
<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;  <span class="keywordflow">if</span> (cloud.<a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a>)</div>
<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;  {</div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; indices.indices.size (); ++i)</div>
<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;    {</div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;      pcl::Array4fMapConst pt = cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[indices.indices[i]].getArray4fMap ();</div>
<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;      min_p = min_p.min (pt);</div>
<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;      max_p = max_p.max (pt);</div>
<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;    }</div>
<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;  }</div>
<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;  <span class="comment">// NaN or Inf values could exist =&gt; check for them</span></div>
<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;  {</div>
<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; indices.indices.size (); ++i)</div>
<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;    {</div>
<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;      <span class="comment">// Check if the point is invalid</span></div>
<div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;      <span class="keywordflow">if</span> (!pcl_isfinite (cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[indices.indices[i]].x) || </div>
<div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;          !pcl_isfinite (cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[indices.indices[i]].y) || </div>
<div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;          !pcl_isfinite (cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[indices.indices[i]].z))</div>
<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;        <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;      pcl::Array4fMapConst pt = cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[indices.indices[i]].getArray4fMap ();</div>
<div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;      min_p = min_p.min (pt);</div>
<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;      max_p = max_p.max (pt);</div>
<div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;    }</div>
<div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;  }</div>
<div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;  min_pt = min_p;</div>
<div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;  max_pt = max_p;</div>
<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;}</div>
<div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160; </div>
<div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00341"></a><span class="lineno"><a class="line" href="group__common.html#ga47dac23a8a283dd07f62fa7aa21b63ec">  341</a></span>&#160;<a class="code" href="group__common.html#ga3166f09aafd659f69dc75e63f5e10f81">pcl::getMinMax3D</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud, <span class="keyword">const</span> std::vector&lt;int&gt; &amp;indices,</div>
<div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160;                  Eigen::Vector4f &amp;min_pt, Eigen::Vector4f &amp;max_pt)</div>
<div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160;{</div>
<div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160;  min_pt.setConstant (FLT_MAX);</div>
<div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160;  max_pt.setConstant (-FLT_MAX);</div>
<div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160; </div>
<div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160;  <span class="comment">// If the data is dense, we don&#39;t need to check for NaN</span></div>
<div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160;  <span class="keywordflow">if</span> (cloud.<a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a>)</div>
<div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160;  {</div>
<div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; indices.size (); ++i)</div>
<div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160;    {</div>
<div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160;      pcl::Array4fMapConst pt = cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[indices[i]].getArray4fMap ();</div>
<div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160;      min_pt = min_pt.array ().min (pt);</div>
<div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160;      max_pt = max_pt.array ().max (pt);</div>
<div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160;    }</div>
<div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160;  }</div>
<div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;  <span class="comment">// NaN or Inf values could exist =&gt; check for them</span></div>
<div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160;  {</div>
<div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; indices.size (); ++i)</div>
<div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160;    {</div>
<div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160;      <span class="comment">// Check if the point is invalid</span></div>
<div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160;      <span class="keywordflow">if</span> (!pcl_isfinite (cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[indices[i]].x) || </div>
<div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160;          !pcl_isfinite (cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[indices[i]].y) || </div>
<div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160;          !pcl_isfinite (cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[indices[i]].z))</div>
<div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160;        <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160;      pcl::Array4fMapConst pt = cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[indices[i]].getArray4fMap ();</div>
<div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160;      min_pt = min_pt.array ().min (pt);</div>
<div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160;      max_pt = max_pt.array ().max (pt);</div>
<div class="line"><a name="l00370"></a><span class="lineno">  370</span>&#160;    }</div>
<div class="line"><a name="l00371"></a><span class="lineno">  371</span>&#160;  }</div>
<div class="line"><a name="l00372"></a><span class="lineno">  372</span>&#160;}</div>
<div class="line"><a name="l00373"></a><span class="lineno">  373</span>&#160; </div>
<div class="line"><a name="l00375"></a><span class="lineno">  375</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keyword">inline</span> <span class="keywordtype">double</span> </div>
<div class="line"><a name="l00376"></a><span class="lineno"><a class="line" href="group__common.html#gab64d6ba9e834d29feda71a76d3ec841f">  376</a></span>&#160;<a class="code" href="group__common.html#gab64d6ba9e834d29feda71a76d3ec841f">pcl::getCircumcircleRadius</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;pa, <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;pb, <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;pc)</div>
<div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160;{</div>
<div class="line"><a name="l00378"></a><span class="lineno">  378</span>&#160;  Eigen::Vector4f p1 (pa.x, pa.y, pa.z, 0);</div>
<div class="line"><a name="l00379"></a><span class="lineno">  379</span>&#160;  Eigen::Vector4f p2 (pb.x, pb.y, pb.z, 0);</div>
<div class="line"><a name="l00380"></a><span class="lineno">  380</span>&#160;  Eigen::Vector4f p3 (pc.x, pc.y, pc.z, 0);</div>
<div class="line"><a name="l00381"></a><span class="lineno">  381</span>&#160; </div>
<div class="line"><a name="l00382"></a><span class="lineno">  382</span>&#160;  <span class="keywordtype">double</span> p2p1 = (p2 - p1).norm (), p3p2 = (p3 - p2).norm (), p1p3 = (p1 - p3).norm ();</div>
<div class="line"><a name="l00383"></a><span class="lineno">  383</span>&#160;  <span class="comment">// Calculate the area of the triangle using Heron&#39;s formula </span></div>
<div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160;  <span class="comment">// (http://en.wikipedia.org/wiki/Heron&#39;s_formula)</span></div>
<div class="line"><a name="l00385"></a><span class="lineno">  385</span>&#160;  <span class="keywordtype">double</span> semiperimeter = (p2p1 + p3p2 + p1p3) / 2.0;</div>
<div class="line"><a name="l00386"></a><span class="lineno">  386</span>&#160;  <span class="keywordtype">double</span> area = sqrt (semiperimeter * (semiperimeter - p2p1) * (semiperimeter - p3p2) * (semiperimeter - p1p3));</div>
<div class="line"><a name="l00387"></a><span class="lineno">  387</span>&#160;  <span class="comment">// Compute the radius of the circumscribed circle</span></div>
<div class="line"><a name="l00388"></a><span class="lineno">  388</span>&#160;  <span class="keywordflow">return</span> ((p2p1 * p3p2 * p1p3) / (4.0 * area));</div>
<div class="line"><a name="l00389"></a><span class="lineno">  389</span>&#160;}</div>
<div class="line"><a name="l00390"></a><span class="lineno">  390</span>&#160; </div>
<div class="line"><a name="l00392"></a><span class="lineno">  392</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00393"></a><span class="lineno"><a class="line" href="group__common.html#gaacff2e632283be60810678d329b166ec">  393</a></span>&#160;<a class="code" href="group__common.html#gaacff2e632283be60810678d329b166ec">pcl::getMinMax</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;histogram, <span class="keywordtype">int</span> len, <span class="keywordtype">float</span> &amp;min_p, <span class="keywordtype">float</span> &amp;max_p)</div>
<div class="line"><a name="l00394"></a><span class="lineno">  394</span>&#160;{</div>
<div class="line"><a name="l00395"></a><span class="lineno">  395</span>&#160;  min_p = FLT_MAX;</div>
<div class="line"><a name="l00396"></a><span class="lineno">  396</span>&#160;  max_p = -FLT_MAX;</div>
<div class="line"><a name="l00397"></a><span class="lineno">  397</span>&#160; </div>
<div class="line"><a name="l00398"></a><span class="lineno">  398</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; len; ++i)</div>
<div class="line"><a name="l00399"></a><span class="lineno">  399</span>&#160;  {</div>
<div class="line"><a name="l00400"></a><span class="lineno">  400</span>&#160;    min_p = (histogram[i] &gt; min_p) ? min_p : histogram[i]; </div>
<div class="line"><a name="l00401"></a><span class="lineno">  401</span>&#160;    max_p = (histogram[i] &lt; max_p) ? max_p : histogram[i]; </div>
<div class="line"><a name="l00402"></a><span class="lineno">  402</span>&#160;  }</div>
<div class="line"><a name="l00403"></a><span class="lineno">  403</span>&#160;}</div>
<div class="line"><a name="l00404"></a><span class="lineno">  404</span>&#160; </div>
<div class="line"><a name="l00406"></a><span class="lineno">  406</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keyword">inline</span> <span class="keywordtype">float</span></div>
<div class="line"><a name="l00407"></a><span class="lineno"><a class="line" href="group__common.html#ga1a9e18520c49be76f2a28834e2da8a56">  407</a></span>&#160;<a class="code" href="group__common.html#ga1a9e18520c49be76f2a28834e2da8a56">pcl::calculatePolygonArea</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;polygon) </div>
<div class="line"><a name="l00408"></a><span class="lineno">  408</span>&#160;{</div>
<div class="line"><a name="l00409"></a><span class="lineno">  409</span>&#160;  <span class="keywordtype">float</span> area = 0.0f;</div>
<div class="line"><a name="l00410"></a><span class="lineno">  410</span>&#160;  <span class="keywordtype">int</span> num_points = polygon.size ();</div>
<div class="line"><a name="l00411"></a><span class="lineno">  411</span>&#160;  <span class="keywordtype">int</span> j = 0;</div>
<div class="line"><a name="l00412"></a><span class="lineno">  412</span>&#160;  Eigen::Vector3f va,vb,res;</div>
<div class="line"><a name="l00413"></a><span class="lineno">  413</span>&#160; </div>
<div class="line"><a name="l00414"></a><span class="lineno">  414</span>&#160;  res(0) = res(1) = res(2) = 0.0f;</div>
<div class="line"><a name="l00415"></a><span class="lineno">  415</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; num_points; ++i) </div>
<div class="line"><a name="l00416"></a><span class="lineno">  416</span>&#160;  {</div>
<div class="line"><a name="l00417"></a><span class="lineno">  417</span>&#160;    j = (i + 1) % num_points;</div>
<div class="line"><a name="l00418"></a><span class="lineno">  418</span>&#160;    va = polygon[i].getVector3fMap ();</div>
<div class="line"><a name="l00419"></a><span class="lineno">  419</span>&#160;    vb = polygon[j].getVector3fMap ();</div>
<div class="line"><a name="l00420"></a><span class="lineno">  420</span>&#160;    res += va.cross (vb);</div>
<div class="line"><a name="l00421"></a><span class="lineno">  421</span>&#160;  }</div>
<div class="line"><a name="l00422"></a><span class="lineno">  422</span>&#160;  area = res.norm ();</div>
<div class="line"><a name="l00423"></a><span class="lineno">  423</span>&#160;  <span class="keywordflow">return</span> (area*0.5);</div>
<div class="line"><a name="l00424"></a><span class="lineno">  424</span>&#160;}</div>
<div class="line"><a name="l00425"></a><span class="lineno">  425</span>&#160; </div>
<div class="line"><a name="l00426"></a><span class="lineno">  426</span>&#160;<span class="preprocessor">#endif  </span><span class="comment">//#ifndef PCL_COMMON_IMPL_H_</span></div>
<div class="line"><a name="l00427"></a><span class="lineno">  427</span>&#160; </div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a3ca88d8ebf6f4f35acbc31cdfb38aa94"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">pcl::PointCloud::is_dense</a></div><div class="ttdeci">bool is_dense</div><div class="ttdoc">True if no points are invalid (e.g., have NaN or Inf values).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:418</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_af16a62638198313b9c093127c492c884"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">pcl::PointCloud::points</a></div><div class="ttdeci">std::vector&lt; PointT, Eigen::aligned_allocator&lt; PointT &gt; &gt; points</div><div class="ttdoc">The point data.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:410</div></div>
<div class="ttc" id="acommon_2include_2pcl_2common_2common_8h_html"><div class="ttname"><a href="common_2include_2pcl_2common_2common_8h.html">common.h</a></div></div>
<div class="ttc" id="acommon_2include_2pcl_2point__types_8h_html"><div class="ttname"><a href="common_2include_2pcl_2point__types_8h.html">point_types.h</a></div></div>
<div class="ttc" id="agroup__common_html_ga1583a71aef0f54550adef0ebfef89edd"><div class="ttname"><a href="group__common.html#ga1583a71aef0f54550adef0ebfef89edd">pcl::getMaxDistance</a></div><div class="ttdeci">void getMaxDistance(const pcl::PointCloud&lt; PointT &gt; &amp;cloud, const Eigen::Vector4f &amp;pivot_pt, Eigen::Vector4f &amp;max_pt)</div><div class="ttdoc">Get the point at maximum distance from a given point and a given pointcloud</div><div class="ttdef"><b>Definition:</b> common.hpp:130</div></div>
<div class="ttc" id="agroup__common_html_ga1a9e18520c49be76f2a28834e2da8a56"><div class="ttname"><a href="group__common.html#ga1a9e18520c49be76f2a28834e2da8a56">pcl::calculatePolygonArea</a></div><div class="ttdeci">float calculatePolygonArea(const pcl::PointCloud&lt; PointT &gt; &amp;polygon)</div><div class="ttdoc">Calculate the area of a polygon given a point cloud that defines the polygon</div><div class="ttdef"><b>Definition:</b> common.hpp:407</div></div>
<div class="ttc" id="agroup__common_html_ga3166f09aafd659f69dc75e63f5e10f81"><div class="ttname"><a href="group__common.html#ga3166f09aafd659f69dc75e63f5e10f81">pcl::getMinMax3D</a></div><div class="ttdeci">void getMinMax3D(const pcl::PointCloud&lt; PointT &gt; &amp;cloud, PointT &amp;min_pt, PointT &amp;max_pt)</div><div class="ttdoc">Get the minimum and maximum values on each of the 3 (x-y-z) dimensions in a given pointcloud</div><div class="ttdef"><b>Definition:</b> common.hpp:228</div></div>
<div class="ttc" id="agroup__common_html_ga3349ce9c26d4acbb1adae1e9b2d5f7e5"><div class="ttname"><a href="group__common.html#ga3349ce9c26d4acbb1adae1e9b2d5f7e5">pcl::getMeanStd</a></div><div class="ttdeci">void getMeanStd(const std::vector&lt; float &gt; &amp;values, double &amp;mean, double &amp;stddev)</div><div class="ttdoc">Compute both the mean and the standard deviation of an array of values</div><div class="ttdef"><b>Definition:</b> common.hpp:71</div></div>
<div class="ttc" id="agroup__common_html_ga54999c02ba9bee56404539747b0fda51"><div class="ttname"><a href="group__common.html#ga54999c02ba9bee56404539747b0fda51">pcl::getAngle3D</a></div><div class="ttdeci">double getAngle3D(const Eigen::Vector4f &amp;v1, const Eigen::Vector4f &amp;v2, const bool in_degree=false)</div><div class="ttdoc">Compute the smallest angle between two 3D vectors in radians (default) or degree.</div><div class="ttdef"><b>Definition:</b> common.hpp:46</div></div>
<div class="ttc" id="agroup__common_html_gaacff2e632283be60810678d329b166ec"><div class="ttname"><a href="group__common.html#gaacff2e632283be60810678d329b166ec">pcl::getMinMax</a></div><div class="ttdeci">void getMinMax(const PointT &amp;histogram, int len, float &amp;min_p, float &amp;max_p)</div><div class="ttdoc">Get the minimum and maximum values on a point histogram</div><div class="ttdef"><b>Definition:</b> common.hpp:393</div></div>
<div class="ttc" id="agroup__common_html_gab64d6ba9e834d29feda71a76d3ec841f"><div class="ttname"><a href="group__common.html#gab64d6ba9e834d29feda71a76d3ec841f">pcl::getCircumcircleRadius</a></div><div class="ttdeci">double getCircumcircleRadius(const PointT &amp;pa, const PointT &amp;pb, const PointT &amp;pc)</div><div class="ttdoc">Compute the radius of a circumscribed circle for a triangle formed of three points pa,...</div><div class="ttdef"><b>Definition:</b> common.hpp:376</div></div>
<div class="ttc" id="agroup__common_html_gab831a44b375fa7e6bada740d1d17e247"><div class="ttname"><a href="group__common.html#gab831a44b375fa7e6bada740d1d17e247">pcl::getPointsInBox</a></div><div class="ttdeci">void getPointsInBox(const pcl::PointCloud&lt; PointT &gt; &amp;cloud, Eigen::Vector4f &amp;min_pt, Eigen::Vector4f &amp;max_pt, std::vector&lt; int &gt; &amp;indices)</div><div class="ttdoc">Get a set of points residing in a box given its bounds</div><div class="ttdef"><b>Definition:</b> common.hpp:87</div></div>
<div class="ttc" id="astructpcl_1_1_point_indices_html"><div class="ttname"><a href="structpcl_1_1_point_indices.html">pcl::PointIndices</a></div><div class="ttdef"><b>Definition:</b> PointIndices.h:13</div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_r_g_b_a_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z_r_g_b_a.html">pcl::PointXYZRGBA</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates, and the RGBA color.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:540</div></div>
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